diff --git a/.gitmodules b/.gitmodules index aee16757e..610ae0c29 100644 --- a/.gitmodules +++ b/.gitmodules @@ -15,6 +15,3 @@ path = ros/rosbag2 url = https://github.com/ros2/rosbag2.git branch = foxy-future -[submodule "ros/zed-ros2-wrapper"] - path = ros/zed-ros2-wrapper - url = https://github.com/stereolabs/zed-ros2-wrapper.git diff --git a/docker/workspace-build/Dockerfile b/docker/workspace-build/Dockerfile index c1b2e70c5..9b436e688 100644 --- a/docker/workspace-build/Dockerfile +++ b/docker/workspace-build/Dockerfile @@ -53,32 +53,33 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ RUN echo "source /etc/bash_completion" >> ~/.bashrc \ && echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc -# Acquire and install NVIDIA CUDA 12.5 -RUN --mount=type=cache,target=/root/nvidia,sharing=locked \ - wget https://developer.download.nvidia.com/compute/cuda/12.5.0/local_installers/cuda_12.5.0_555.42.02_linux.run \ - --no-verbose -c -O /root/nvidia/cuda_12.5.0_555.42.02_linux.run \ - && chmod +x /root/nvidia/cuda_12.5.0_555.42.02_linux.run \ - && /root/nvidia/cuda_12.5.0_555.42.02_linux.run --silent --toolkit -ENV PATH=/usr/local/cuda-12.5/bin:${PATH} -ENV LD_LIBRARY_PATH=/usr/local/cuda-12.5/lib64:${LD_LIBRARY_PATH} - -# Install ZED SDK and dependencies. -# We are skipping the python installation here as the pacakge version has been -# manually deduced and added to our poetry configuration to allow for its -# depedencies to be resolved along side everything else we use. -RUN --mount=type=cache,target=/root/zed,sharing=locked \ - --mount=type=cache,target=/var/cache/apt,sharing=locked \ - --mount=type=cache,target=/var/lib/apt,sharing=locked \ - apt install zstd \ - && wget https://download.stereolabs.com/zedsdk/4.1/cu121/ubuntu20 \ - --no-verbose -c -O /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \ - && chmod +x /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \ - && /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \ - --quiet \ - --target /root/zed/install \ - -- \ - --silent \ - --skip_python +## Acquire and install NVIDIA CUDA 12.5 +## * This is required for the ZED SDK installation. +#RUN --mount=type=cache,target=/root/nvidia,sharing=locked \ +# wget https://developer.download.nvidia.com/compute/cuda/12.5.0/local_installers/cuda_12.5.0_555.42.02_linux.run \ +# --no-verbose -c -O /root/nvidia/cuda_12.5.0_555.42.02_linux.run \ +# && chmod +x /root/nvidia/cuda_12.5.0_555.42.02_linux.run \ +# && /root/nvidia/cuda_12.5.0_555.42.02_linux.run --silent --toolkit +#ENV PATH=/usr/local/cuda-12.5/bin:${PATH} +#ENV LD_LIBRARY_PATH=/usr/local/cuda-12.5/lib64:${LD_LIBRARY_PATH} +# +## Install ZED SDK and dependencies. +## We are skipping the python installation here as the pacakge version has been +## manually deduced and added to our poetry configuration to allow for its +## depedencies to be resolved along side everything else we use. +#RUN --mount=type=cache,target=/root/zed,sharing=locked \ +# --mount=type=cache,target=/var/cache/apt,sharing=locked \ +# --mount=type=cache,target=/var/lib/apt,sharing=locked \ +# apt install zstd \ +# && wget https://download.stereolabs.com/zedsdk/4.1/cu121/ubuntu20 \ +# --no-verbose -c -O /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \ +# && chmod +x /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \ +# && /root/zed/ZED_SDK_Ubuntu20_cuda12.1_v4.1.2.zstd.run \ +# --quiet \ +# --target /root/zed/install \ +# -- \ +# --silent \ +# --skip_python # For the demo-ui RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ diff --git a/poetry.lock b/poetry.lock index 3c083616d..cc3c4e8d9 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand. [[package]] name = "absl-py" @@ -3428,10 +3428,7 @@ files = [ decorator = ">=4.0.2,<5.0" imageio = {version = ">=2.5,<3.0", markers = "python_version >= \"3.4\""} imageio_ffmpeg = {version = ">=0.2.0", markers = "python_version >= \"3.4\""} -numpy = [ - {version = ">=1.17.3", markers = "python_version != \"2.7\""}, - {version = "*", markers = "python_version >= \"2.7\""}, -] +numpy = {version = ">=1.17.3", markers = "python_version > \"2.7\""} proglog = "<=1.0.0" requests = ">=2.8.1,<3.0" tqdm = ">=4.11.2,<5.0" @@ -3960,10 +3957,9 @@ files = [ [package.dependencies] numpy = [ - {version = ">=1.21.0", markers = "python_version <= \"3.9\" and platform_system == \"Darwin\" and platform_machine == \"arm64\""}, - {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\""}, - {version = ">=1.17.0", markers = "python_version >= \"3.7\""}, - {version = ">=1.17.3", markers = "python_version >= \"3.8\""}, + {version = ">=1.21.0", markers = "python_version <= \"3.9\" and platform_system == \"Darwin\" and platform_machine == \"arm64\" and python_version >= \"3.8\""}, + {version = ">=1.19.3", markers = "platform_system == \"Linux\" and platform_machine == \"aarch64\" and python_version >= \"3.8\""}, + {version = ">=1.17.3", markers = "python_version > \"3.9\" and platform_system != \"Linux\" or python_version > \"3.9\" and platform_machine != \"aarch64\" or (platform_system != \"Darwin\" and platform_system != \"Linux\") and python_version >= \"3.8\" or platform_system != \"Darwin\" and python_version >= \"3.8\" and platform_machine != \"aarch64\" or platform_machine != \"arm64\" and python_version >= \"3.8\" and platform_system != \"Linux\" or (platform_machine != \"arm64\" and platform_machine != \"aarch64\") and python_version >= \"3.8\""}, ] [[package]] @@ -5066,27 +5062,6 @@ files = [ {file = "PyYAML-6.0.1.tar.gz", hash = "sha256:bfdf460b1736c775f2ba9f6a92bca30bc2095067b8a9d77876d1fad6cc3b4a43"}, ] -[[package]] -name = "pyzed" -version = "4.1" -description = "Use the ZED SDK with Python" -optional = false -python-versions = ">=3.6" -files = [ - {file = "pyzed-4.1-cp38-cp38-linux_x86_64.whl", hash = "sha256:487a73e6597347bcb959f231683cfe8dadaeebc5e40b2f310f4680f97fad89c2"}, -] - -[package.dependencies] -cython = ">=3.0.0" -numpy = ">=1.13,<2.0" - -[package.extras] -sample = ["opencv-python", "pyopengl"] - -[package.source] -type = "url" -url = "https://download.stereolabs.com/zedsdk/4.1/whl/linux_x86_64/pyzed-4.1-cp38-cp38-linux_x86_64.whl" - [[package]] name = "pyzmq" version = "25.0.0" @@ -6304,7 +6279,7 @@ files = [ ] [package.dependencies] -greenlet = {version = "!=0.4.17", markers = "platform_machine == \"win32\" or platform_machine == \"WIN32\" or platform_machine == \"AMD64\" or platform_machine == \"amd64\" or platform_machine == \"x86_64\" or platform_machine == \"ppc64le\" or platform_machine == \"aarch64\""} +greenlet = {version = "!=0.4.17", markers = "platform_machine == \"aarch64\" or platform_machine == \"ppc64le\" or platform_machine == \"x86_64\" or platform_machine == \"amd64\" or platform_machine == \"AMD64\" or platform_machine == \"win32\" or platform_machine == \"WIN32\""} typing-extensions = ">=4.6.0" [package.extras] @@ -6896,8 +6871,8 @@ requests = ">=2.23.0" scipy = ">=1.4.1" seaborn = ">=0.11.0" torch = [ - {version = ">=1.8.0", markers = "sys_platform != \"win32\""}, {version = ">=1.8.0,<2.4.0 || >2.4.0", markers = "sys_platform == \"win32\""}, + {version = ">=1.8.0", markers = "sys_platform != \"win32\""}, ] torchvision = ">=0.9.0" tqdm = ">=4.64.0" @@ -7516,4 +7491,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "==3.8.10" -content-hash = "9f29f1301db873daac79ce0c8b59d2205212beba2c424e9fcece15c9be4b7f35" +content-hash = "5ff3fcf2e78b589959900537b5da76b2f5cc4a6fbebb3d56bf88e04ccd409c6d" diff --git a/pyproject.toml b/pyproject.toml index ec9a71fb6..50d20e831 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -93,14 +93,14 @@ tcn-hpl = {path = "python-tpl/TCN_HPL", develop = true} # Yolo v7 object detection yolov7 = {path = "python-tpl/yolov7", develop = true} -# ZED SDK Python Package -# Deduced from a manual installation of the ZED SDK, however the installation -# script uses the `--ignore-installed` option for `pip install`, which clobbers -# transitive dependency requirements of other packages specified here. -# Including the known wheel via URL is our best option to avoid this issue. -# This will need to be updated (or removed) if we change our platform or SDK -# version used. -pyzed = {url = "https://download.stereolabs.com/zedsdk/4.1/whl/linux_x86_64/pyzed-4.1-cp38-cp38-linux_x86_64.whl"} +## ZED SDK Python Package +## Deduced from a manual installation of the ZED SDK, however the installation +## script uses the `--ignore-installed` option for `pip install`, which clobbers +## transitive dependency requirements of other packages specified here. +## Including the known wheel via URL is our best option to avoid this issue. +## This will need to be updated (or removed) if we change our platform or SDK +## version used. +#pyzed = {url = "https://download.stereolabs.com/zedsdk/4.1/whl/linux_x86_64/pyzed-4.1-cp38-cp38-linux_x86_64.whl"} [tool.poetry.dev-dependencies] ipython = "*" diff --git a/ros/zed-ros2-wrapper b/ros/zed-ros2-wrapper deleted file mode 160000 index 316101428..000000000 --- a/ros/zed-ros2-wrapper +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 316101428b029ad08a8051b859c05d816fe22520